OpenRaiser/Intern-Atlas huggingface dataset:
A Control Theoretic Framework for Adaptive Gradient Optimizers in Machine Learning
Venue: arXiv cs.LG 2023
Year: 2023

Adaptive gradient methods have become popular in optimizing deep neural networks; recent examples include AdaGrad and Adam. Although Adam usually converges faster, variations of Adam, for instance, the AdaBelief algorithm, have been proposed to enhance Adam's poor generalization ability compared to the classical stochastic gradient method. This paper develops a generic framework for adaptive gradient methods that solve non-convex optimization problems. We first model the adaptive gradient methods in a state-space framework, which allows us to present simpler convergence proofs of adaptive optimizers such as AdaGrad, Adam, and AdaBelief. We then utilize the transfer function paradigm from classical control theory to propose a new variant of Adam, coined AdamSSM. We add an appropriate pole-zero pair in the transfer function from squared gradients to the second moment estimate. We prove the convergence of the proposed AdamSSM algorithm. Applications on benchmark machine learning tasks of image classification using CNN architectures and language modeling using LSTM architecture demonstrate that the AdamSSM algorithm improves the gap between generalization accuracy and faster convergence than the recent adaptive gradient methods.
Priors in Deep Image Restoration and Enhancement: A Survey
Venue: arXiv cs.CV 2023
Year: 2023

Image restoration and enhancement is a process of improving the image quality by removing degradations, such as noise, blur, and resolution degradation. Deep learning (DL) has recently been applied to image restoration and enhancement. Due to its ill-posed property, plenty of works have been explored priors to facilitate training deep neural networks (DNNs). However, the importance of priors has not been systematically studied and analyzed by far in the research community. Therefore, this paper serves as the first study that provides a comprehensive overview of recent advancements in priors for deep image restoration and enhancement. Our work covers five primary contents: (1) A theoretical analysis of priors for deep image restoration and enhancement; (2) A hierarchical and structural taxonomy of priors commonly used in the DL-based methods; (3) An insightful discussion on each prior regarding its principle, potential, and applications; (4) A summary of crucial problems by highlighting the potential future directions, especially adopting the large-scale foundation models as prior, to spark more research in the community; (5) An open-source repository that provides a taxonomy of all mentioned works and code links.
Interpretable Mixture of Experts
Venue: arXiv cs.LG 2023
Year: 2023

The need for reliable model explanations is prominent for many machine learning applications, particularly for tabular and time-series data as their use cases often involve high-stakes decision making. Towards this goal, we introduce a novel interpretable modeling framework, Interpretable Mixture of Experts (IME), that yields high accuracy, comparable to `black-box' Deep Neural Networks (DNNs) in many cases, along with useful interpretability capabilities. IME consists of an assignment module and a mixture of experts, with each sample being assigned to a single expert for prediction. We introduce multiple options for IME based on the assignment and experts being interpretable. When the experts are chosen to be interpretable such as linear models, IME yields an inherently-interpretable architecture where the explanations produced by IME are the exact descriptions of how the prediction is computed. In addition to constituting a standalone inherently-interpretable architecture, IME has the premise of being integrated with existing DNNs to offer interpretability to a subset of samples while maintaining the accuracy of the DNNs. Through extensive experiments on 15 tabular and time-series datasets, IME is demonstrated to be more accurate than single interpretable models and perform comparably with existing state-of-the-art DNNs in accuracy. On most datasets, IME even outperforms DNNs, while providing faithful explanations. Lastly, IME's explanations are compared to commonly-used post-hoc explanations methods through a user study -- participants are able to better predict the model behavior when given IME explanations, while finding IME's explanations more faithful and trustworthy.
Optimization-based Block Coordinate Gradient Coding for Mitigating Partial Stragglers in Distributed Learning
Venue: arXiv cs.IT 2023
Year: 2023

Gradient coding schemes effectively mitigate full stragglers in distributed learning by introducing identical redundancy in coded local partial derivatives corresponding to all model parameters. However, they are no longer effective for partial stragglers as they cannot utilize incomplete computation results from partial stragglers. This paper aims to design a new gradient coding scheme for mitigating partial stragglers in distributed learning. Specifically, we consider a distributed system consisting of one master and N workers, characterized by a general partial straggler model and focuses on solving a general large-scale machine learning problem with L model parameters using gradient coding. First, we propose a coordinate gradient coding scheme with L coding parameters representing L possibly different diversities for the L coordinates, which generates most gradient coding schemes. Then, we consider the minimization of the expected overall runtime and the maximization of the completion probability with respect to the L coding parameters for coordinates, which are challenging discrete optimization problems. To reduce computational complexity, we first transform each to an equivalent but much simpler discrete problem with N\llL variables representing the partition of the L coordinates into N blocks, each with identical redundancy. This indicates an equivalent but more easily implemented block coordinate gradient coding scheme with N coding parameters for blocks. Then, we adopt continuous relaxation to further reduce computational complexity. For the resulting minimization of expected overall runtime, we develop an iterative algorithm of computational complexity O(N^2) to obtain an optimal solution and derive two closed-form approximate solutions both with computational complexity O(N). For the resultant maximization of the completion probability, we develop an iterative algorithm of...
Lane-Level Route Planning for Autonomous Vehicles
Venue: arXiv cs.RO 2023
Year: 2023

We present an algorithm that, given a representation of a road network in lane-level detail, computes a route that minimizes the expected cost to reach a given destination. In doing so, our algorithm allows us to solve for the complex trade-offs encountered when trying to decide not just which roads to follow, but also when to change between the lanes making up these roads, in order to -- for example -- reduce the likelihood of missing a left exit while not unnecessarily driving in the leftmost lane. This routing problem can naturally be formulated as a Markov Decision Process (MDP), in which lane change actions have stochastic outcomes. However, MDPs are known to be time-consuming to solve in general. In this paper, we show that -- under reasonable assumptions -- we can use a Dijkstra-like approach to solve this stochastic problem, and benefit from its efficient $O(n \log n)$ running time. This enables an autonomous vehicle to exhibit lane-selection behavior as it efficiently plans an optimal route to its destination.
A Justice-Based Framework for the Analysis of Algorithmic Fairness-Utility Trade-Offs
Venue: arXiv cs.CY 2023
Year: 2023

In prediction-based decision-making systems, different perspectives can be at odds: The short-term business goals of the decision makers are often in conflict with the decision subjects' wish to be treated fairly. Balancing these two perspectives is a question of values. However, these values are often hidden in the technicalities of the implementation of the decision-making system. In this paper, we propose a framework to make these value-laden choices clearly visible. We focus on a setting in which we want to find decision rules that balance the perspective of the decision maker and of the decision subjects. We provide an approach to formalize both perspectives, i.e., to assess the utility of the decision maker and the fairness towards the decision subjects. In both cases, the idea is to elicit values from decision makers and decision subjects that are then turned into something measurable. For the fairness evaluation, we build on well-known theories of distributive justice and on the algorithmic literature to ask what a fair distribution of utility (or welfare) looks like. This allows us to derive a fairness score that we then compare to the decision maker's utility. As we focus on a setting in which we are given a trained model and have to choose a decision rule, we use the concept of Pareto efficiency to compare decision rules. Our proposed framework can both guide the implementation of a decision-making system and help with audits, as it allows us to resurface the values implemented in a decision-making system.
DiMS: Distilling Multiple Steps of Iterative Non-Autoregressive Transformers for Machine Translation
Venue: arXiv cs.CL 2023
Year: 2023

The computational benefits of iterative non-autoregressive transformers decrease as the number of decoding steps increases. As a remedy, we introduce Distill Multiple Steps (DiMS), a simple yet effective distillation technique to decrease the number of required steps to reach a certain translation quality. The distilled model enjoys the computational benefits of early iterations while preserving the enhancements from several iterative steps. DiMS relies on two models namely student and teacher. The student is optimized to predict the output of the teacher after multiple decoding steps while the teacher follows the student via a slow-moving average. The moving average keeps the teacher's knowledge updated and enhances the quality of the labels provided by the teacher. During inference, the student is used for translation and no additional computation is added. We verify the effectiveness of DiMS on various models obtaining 7.8 and 12.9 BLEU points improvements in single-step translation accuracy on distilled and raw versions of WMT'14 De-En.
Privacy Amplification via Shuffled Check-Ins
Venue: arXiv cs.LG 2023
Year: 2023

We study a protocol for distributed computation called shuffled check-in, which achieves strong privacy guarantees without requiring any further trust assumptions beyond a trusted shuffler. Unlike most existing work, shuffled check-in allows clients to make independent and random decisions to participate in the computation, removing the need for server-initiated subsampling. Leveraging differential privacy, we show that shuffled check-in achieves tight privacy guarantees through privacy amplification, with a novel analysis based on R{é}nyi differential privacy that improves privacy accounting over existing work. We also introduce a numerical approach to track the privacy of generic shuffling mechanisms, including Gaussian mechanism, which is the first evaluation of a generic mechanism under the distributed setting within the local/shuffle model in the literature. Empirical studies are also given to demonstrate the efficacy of the proposed approach.
Introspective Experience Replay: Look Back When Surprised
Venue: arXiv cs.LG 2023
Year: 2023

In reinforcement learning (RL), experience replay-based sampling techniques play a crucial role in promoting convergence by eliminating spurious correlations. However, widely used methods such as uniform experience replay (UER) and prioritized experience replay (PER) have been shown to have sub-optimal convergence and high seed sensitivity respectively. To address these issues, we propose a novel approach called IntrospectiveExperience Replay (IER) that selectively samples batches of data points prior to surprising events. Our method builds upon the theoretically sound reverse experience replay (RER) technique, which has been shown to reduce bias in the output of Q-learning-type algorithms with linear function approximation. However, this approach is not always practical or reliable when using neural function approximation. Through empirical evaluations, we demonstrate that IER with neural function approximation yields reliable and superior performance compared toUER, PER, and hindsight experience replay (HER) across most tasks.
A Perspective on K-12 AI Education
Venue: arXiv cs.CY 2023
Year: 2023

Artificial intelligence (AI), which enables machines to learn to perform a task by training on diverse datasets, is one of the most revolutionary developments in scientific history. Although AI and especially deep learning is relatively new, it has already had transformative impact on medicine, biology, transportation, entertainment, and beyond. As AI changes our daily lives at an increasingly fast pace, we are challenged with preparing our society for an AI-driven future. To this end, a critical step is to ensure an AI-ready workforce through education. Advocates of beginning instruction of AI basics at the K-12 level typically note benefits to the workforce, economy, and national security. In this complementary perspective, we discuss why learning AI is beneficial for motivating students and promoting creative thinking, and how to develop a module-based approach that optimizes learning outcomes. We hope to excite and engage more members of the education community to join the effort to advance K-12 AI education in the USA and worldwide.
Learning-Based Motion Planning with Mixture Density Networks
Venue: arXiv cs.RO 2023
Year: 2023

The trade-off between computation time and path optimality is a key consideration in motion planning algorithms. While classical sampling based algorithms fall short of computational efficiency in high dimensional planning, learning based methods have shown great potential in achieving time efficient and optimal motion planning. The SOTA learning based motion planning algorithms utilize paths generated by sampling based methods as expert supervision data and train networks via regression techniques. However, these methods often overlook the important multimodal property of the optimal paths in the training set, making them incapable of finding good paths in some scenarios. In this paper, we propose a Multimodal Neuron Planner (MNP) based on the mixture density networks that explicitly takes into account the multimodality of the training data and simultaneously achieves time efficiency and path optimality. For environments represented by a point cloud, MNP first efficiently compresses the point cloud into a latent vector by encoding networks that are suitable for processing point clouds. We then design multimodal planning networks which enables MNP to learn and predict multiple optimal solutions. Simulation results show that our method outperforms SOTA learning based method MPNet and advanced sampling based methods IRRT* and BIT*.
Subject Membership Inference Attacks in Federated Learning
Venue: arXiv cs.LG 2023
Year: 2023

Privacy attacks on Machine Learning (ML) models often focus on inferring the existence of particular data points in the training data. However, what the adversary really wants to know is if a particular individual's (subject's) data was included during training. In such scenarios, the adversary is more likely to have access to the distribution of a particular subject than actual records. Furthermore, in settings like cross-silo Federated Learning (FL), a subject's data can be embodied by multiple data records that are spread across multiple organizations. Nearly all of the existing private FL literature is dedicated to studying privacy at two granularities -- item-level (individual data records), and user-level (participating user in the federation), neither of which apply to data subjects in cross-silo FL. This insight motivates us to shift our attention from the privacy of data records to the privacy of data subjects, also known as subject-level privacy. We propose two novel black-box attacks for subject membership inference, of which one assumes access to a model after each training round. Using these attacks, we estimate subject membership inference risk on real-world data for single-party models as well as FL scenarios. We find our attacks to be extremely potent, even without access to exact training records, and using the knowledge of membership for a handful of subjects. To better understand the various factors that may influence subject privacy risk in cross-silo FL settings, we systematically generate several hundred synthetic federation configurations, varying properties of the data, model design and training, and the federation itself. Finally, we investigate the effectiveness of Differential Privacy in mitigating this threat.
Fast and Robust Non-Rigid Registration Using Accelerated Majorization-Minimization
Venue: arXiv cs.CV 2023
Year: 2023

Non-rigid 3D registration, which deforms a source 3D shape in a non-rigid way to align with a target 3D shape, is a classical problem in computer vision. Such problems can be challenging because of imperfect data (noise, outliers and partial overlap) and high degrees of freedom. Existing methods typically adopt the $\ell_p$ type robust norm to measure the alignment error and regularize the smoothness of deformation, and use a proximal algorithm to solve the resulting non-smooth optimization problem. However, the slow convergence of such algorithms limits their wide applications. In this paper, we propose a formulation for robust non-rigid registration based on a globally smooth robust norm for alignment and regularization, which can effectively handle outliers and partial overlaps. The problem is solved using the majorization-minimization algorithm, which reduces each iteration to a convex quadratic problem with a closed-form solution. We further apply Anderson acceleration to speed up the convergence of the solver, enabling the solver to run efficiently on devices with limited compute capability. Extensive experiments demonstrate the effectiveness of our method for non-rigid alignment between two shapes with outliers and partial overlaps, with quantitative evaluation showing that it outperforms state-of-the-art methods in terms of registration accuracy and computational speed. The source code is available at https://github.com/yaoyx689/AMM_NRR.
ObPose: Leveraging Pose for Object-Centric Scene Inference and Generation in 3D
Venue: arXiv cs.CV 2023
Year: 2023

We present ObPose, an unsupervised object-centric inference and generation model which learns 3D-structured latent representations from RGB-D scenes. Inspired by prior art in 2D representation learning, ObPose considers a factorised latent space, separately encoding object location (where) and appearance (what). ObPose further leverages an object's pose (i.e. location and orientation), defined via a minimum volume principle, as a novel inductive bias for learning the where component. To achieve this, we propose an efficient, voxelised approximation approach to recover the object shape directly from a neural radiance field (NeRF). As a consequence, ObPose models each scene as a composition of NeRFs, richly representing individual objects. To evaluate the quality of the learned representations, ObPose is evaluated quantitatively on the YCB, MultiShapeNet, and CLEVR datatasets for unsupervised scene segmentation, outperforming the current state-of-the-art in 3D scene inference (ObSuRF) by a significant margin. Generative results provide qualitative demonstration that the same ObPose model can both generate novel scenes and flexibly edit the objects in them. These capacities again reflect the quality of the learned latents and the benefits of disentangling the where and what components of a scene. Key design choices made in the ObPose encoder are validated with ablations.
Fair Classification via Domain Adaptation: A Dual Adversarial Learning Approach
Venue: arXiv cs.LG 2023
Year: 2023

Modern machine learning (ML) models are becoming increasingly popular and are widely used in decision-making systems. However, studies have shown critical issues of ML discrimination and unfairness, which hinder their adoption on high-stake applications. Recent research on fair classifiers has drawn significant attention to developing effective algorithms to achieve fairness and good classification performance. Despite the great success of these fairness-aware machine learning models, most of the existing models require sensitive attributes to pre-process the data, regularize the model learning or post-process the prediction to have fair predictions. However, sensitive attributes are often incomplete or even unavailable due to privacy, legal or regulation restrictions. Though we lack the sensitive attribute for training a fair model in the target domain, there might exist a similar domain that has sensitive attributes. Thus, it is important to exploit auxiliary information from a similar domain to help improve fair classification in the target domain. Therefore, in this paper, we study a novel problem of exploring domain adaptation for fair classification. We propose a new framework that can learn to adapt the sensitive attributes from a source domain for fair classification in the target domain. Extensive experiments on real-world datasets illustrate the effectiveness of the proposed model for fair classification, even when no sensitive attributes are available in the target domain.
Dyna-DM: Dynamic Object-aware Self-supervised Monocular Depth Maps
Venue: arXiv cs.CV 2023
Year: 2023

Self-supervised monocular depth estimation has been a subject of intense study in recent years, because of its applications in robotics and autonomous driving. Much of the recent work focuses on improving depth estimation by increasing architecture complexity. This paper shows that state-of-the-art performance can also be achieved by improving the learning process rather than increasing model complexity. More specifically, we propose (i) disregarding small potentially dynamic objects when training, and (ii) employing an appearance-based approach to separately estimate object pose for truly dynamic objects. We demonstrate that these simplifications reduce GPU memory usage by 29% and result in qualitatively and quantitatively improved depth maps. The code is available at https://github.com/kieran514/Dyna-DM.
A unified stochastic approximation framework for learning in games
Venue: arXiv cs.GT 2023
Year: 2023

We develop a flexible stochastic approximation framework for analyzing the long-run behavior of learning in games (both continuous and finite). The proposed analysis template incorporates a wide array of popular learning algorithms, including gradient-based methods, the exponential/multiplicative weights algorithm for learning in finite games, optimistic and bandit variants of the above, etc. In addition to providing an integrated view of these algorithms, our framework further allows us to obtain several new convergence results, both asymptotic and in finite time, in both continuous and finite games. Specifically, we provide a range of criteria for identifying classes of Nash equilibria and sets of action profiles that are attracting with high probability, and we also introduce the notion of coherence, a game-theoretic property that includes strict and sharp equilibria, and which leads to convergence in finite time. Importantly, our analysis applies to both oracle-based and bandit, payoff-based methods - that is, when players only observe their realized payoffs.